Generalized Hamiltonian biodynamics and topology invariants of humanoid robots

Generalized Hamiltonian biodynamics and topology invariants of humanoid robots

Humanoid robots are anthropomorphic mechanisms with biodynamics that resembles human musculo-skeletal dynamics. This paper proposes a new generalized (dissipative, muscle-driven, stochastic) Hamiltonian model of humanoid biodynamics. Also, (co)homological analysis is performed on its Lie-group based...

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Main Author: Vladimir Ivancevic
Format: Article
Language:English
Published: Hindawi Limited 2002-01-01
Series:International Journal of Mathematics and Mathematical Sciences
Online Access:http://dx.doi.org/10.1155/S0161171202012553
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spelling doaj-f7512d6d3bbe4198bdb70efb5882e90e2020-11-25T00:11:33ZengHindawi LimitedInternational Journal of Mathematics and Mathematical Sciences0161-17121687-04252002-01-0131955556510.1155/S0161171202012553Generalized Hamiltonian biodynamics and topology invariants of humanoid robotsVladimir Ivancevic0Human Factors, Land Operation Division, Defence Science and Technology Organization, P.O. Box 1500, Edinburgh 5111, SA, AustraliaHumanoid robots are anthropomorphic mechanisms with biodynamics that resembles human musculo-skeletal dynamics. This paper proposes a new generalized (dissipative, muscle-driven, stochastic) Hamiltonian model of humanoid biodynamics. Also, (co)homological analysis is performed on its Lie-group based configuration and momentum phase-space manifolds.http://dx.doi.org/10.1155/S0161171202012553
collection DOAJ
language English
format Article
sources DOAJ
author Vladimir Ivancevic
spellingShingle Vladimir Ivancevic
Generalized Hamiltonian biodynamics and topology invariants of humanoid robots
International Journal of Mathematics and Mathematical Sciences
author_facet Vladimir Ivancevic
author_sort Vladimir Ivancevic
title Generalized Hamiltonian biodynamics and topology invariants of humanoid robots
title_short Generalized Hamiltonian biodynamics and topology invariants of humanoid robots
title_full Generalized Hamiltonian biodynamics and topology invariants of humanoid robots
title_fullStr Generalized Hamiltonian biodynamics and topology invariants of humanoid robots
title_full_unstemmed Generalized Hamiltonian biodynamics and topology invariants of humanoid robots
title_sort generalized hamiltonian biodynamics and topology invariants of humanoid robots
publisher Hindawi Limited
series International Journal of Mathematics and Mathematical Sciences
issn 0161-1712
1687-0425
publishDate 2002-01-01
description Humanoid robots are anthropomorphic mechanisms with biodynamics that resembles human musculo-skeletal dynamics. This paper proposes a new generalized (dissipative, muscle-driven, stochastic) Hamiltonian model of humanoid biodynamics. Also, (co)homological analysis is performed on its Lie-group based configuration and momentum phase-space manifolds.
url http://dx.doi.org/10.1155/S0161171202012553
work_keys_str_mv AT vladimirivancevic generalizedhamiltonianbiodynamicsandtopologyinvariantsofhumanoidrobots
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